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Time-varying feedback control for nonholonomic mobile robots forming group formations

Yamaguchi, Hiroaki and Burdick, Joel W. (1998) Time-varying feedback control for nonholonomic mobile robots forming group formations. In: Proceedings of the 37th IEEE Conference on Decision and Control. Vol.4. IEEE , Piscataway, NJ, pp. 4156-4163. ISBN 0-7803-4394-8. https://resolver.caltech.edu/CaltechAUTHORS:20190624-102610825

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Abstract

Presents an approach to control for multiple nonholonomic wheeled mobile robots of the Hilare-type to form group formations. To control the formation, each robot has its own coordinate system and it controls its relative positions to its neighboring robots. Particularly, it has a vector called a formation vector, and the formation is controllable by the vectors. Since the robots have nonholonomic constraints, it is not possible for them to directly move in omni-directions, which means that such nonholonomic vehicles cannot be asymptotically stabilized by smooth static-state feedback control laws. We introduce a smooth time-varying feedback control law whose asymptotic stability is guaranteed in a mathematical framework, averaging theory. The validity of this law is verified by computer simulations.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC.1998.761954DOIArticle
Additional Information:© 1998 IEEE.
Record Number:CaltechAUTHORS:20190624-102610825
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190624-102610825
Official Citation:H. Yamaguchi and J. W. Burdick, "Time-varying feedback control for nonholonomic mobile robots forming group formations," Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171), Tampa, FL, USA, 1998, pp. 4156-4163 vol.4. doi: 10.1109/CDC.1998.761954
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96661
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:24 Jun 2019 18:21
Last Modified:03 Oct 2019 21:24

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